CN217543382U - Laser receiving device and laser radar system - Google Patents

Abstract

The utility model relates to a laser receiving device and a laser radar system, wherein the laser receiving device comprises a receiving lens, a spectroscope, a first laser receiver and a second laser receiver; the receiving lens is used for collecting and converging echo signals, and the spectroscope is arranged on an emergent light path of the receiving lens in a sliding manner and divides the echo signals into a first echo signal and a second echo signal; the first laser receiver and the second laser receiver are respectively arranged at two sides of the spectroscope and are respectively used for receiving the first echo signal and the second echo signal. When the laser receiving device is applied to different occasions, the user can slide and adjust the position of the spectroscope according to the distance measurement requirement, so that the energy ratio of the first echo signal to the second echo signal is adjusted, the laser receiving device can be applied to different occasions only through one spectroscope, the adjusting mode is simple, and the measuring efficiency can be improved.

Description

Laser receiving device and laser radar system

Technical Field

The utility model relates to a laser radar technical field especially relates to a laser receiving device and laser radar system.

Background

In the laser radar system, in order to prevent the phenomenon that the reflection of laser energy causes that the receiver energy reaches saturation and can't respond the echo signal of closely, finally lead to unable effective range finding, can adopt the beam splitter to divide into the laser beam into two bundles and realize closely and long-distance separation range finding usually.

However, in the conventional laser radar system, the beam splitting ratio needs to be adjusted by replacing the beam splitter, the adjustment step is complicated, and the number of beam splitters to be prepared is large.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is desirable to provide a laser receiving device and a laser radar system, which can conveniently adjust the splitting ratio to realize short-distance and long-distance separation ranging in different situations.

The utility model provides a laser receiving device, include: the receiving lens is used for collecting and converging echo signals; the spectroscope is arranged on an emergent light path of the receiving lens in a sliding manner and divides the echo signal into a first echo signal and a second echo signal; and the first laser receiver and the second laser receiver are respectively arranged at two sides of the spectroscope and are respectively used for receiving the first echo signal and the second echo signal.

In the laser receiving device, the receiving lens receives the echo signals and then converges the echo signals and emits the echo signals to the spectroscope, and the spectroscope can divide the echo signals emitted by the receiving lens into a first echo signal and a second echo signal to realize short-distance and long-distance separation and ranging; when needs are applied to different occasions with this laser receiving device, the user can slide according to the range finding needs and adjust the position of spectroscope to adjust the energy ratio of first echo signal and second echo signal, make this laser receiving device just can be applicable to different occasions through a spectroscope, the regulative mode is simple, thereby can improve measurement of efficiency.

In one embodiment, the beam splitter includes a first reflecting surface and a second reflecting surface for reflecting the first echo signal and the second echo signal, respectively, and the first reflecting surface and the second reflecting surface are disposed obliquely with respect to the receiving lens.

So set up for first echo signal and second echo signal are by mutual noninterference after the separation, thereby can improve closely and the accuracy of long-range separation range finding result.

In one embodiment, the included angles between the first reflecting surface and the second reflecting surface and the optical axis of the receiving lens are equal in size.

With the arrangement, the intensity of the echo signal energy received by the first laser receiver and the second laser receiver can not be changed due to different reflection angles of the first reflection surface and the second reflection surface.

In one embodiment, the aperture of the exit end of the receiving lens is D, and the area of the exit end of the receiving lens for exiting the first echo signal part is S1, which satisfies the requirement

By the arrangement, the phenomenon that the ratio of S1 to the whole area of the emergent end of the receiving lens is too small due to the fact that the spectroscope slides to the edge of the receiving lens, and therefore the signal energy received by the first laser receiver or the second laser receiver is too weak, and the result cannot be accurately measured can be avoided.

The utility model also provides a laser radar system, which comprises the laser receiving device; the laser transmitter is used for transmitting a laser signal; the transmitting lens is arranged on an emergent light path of the laser transmitter and is used for collimating the laser signal; the vibrating mirror is arranged on an emergent light path of the transmitting lens and used for reflecting the laser signal to a target object and receiving the echo signal reflected from the target object; and the reflector is arranged between the emission lens and the vibrating mirror, and is provided with a light through hole for the laser signal to pass through.

So set up, the laser signal from laser emitter transmission can pass on logical unthreaded hole direct projection shakes the mirror, avoids the speculum to laser signal's interference and consumption for energy utilization is higher, the range finding is farther.

In one embodiment, the reflecting mirror has a reflecting surface facing the galvanometer, and the echo signal is reflected from the galvanometer to the reflecting surface and reflected to the receiving lens via the reflecting surface.

With the arrangement, the optical paths among the reflecting mirror, the vibrating mirror and the target object are overlapped to form a common optical path system, so that the number of parts of elements can be reduced, and the overall size of the laser radar system is smaller.

In one embodiment, the reflecting surface is plated with a high-reflection film.

With this arrangement, the highly reflective film can increase the reflected light flux of the echo signal reflected from the galvanometer, so that most or almost all of the echo signal incident on the highly reflective film is reflected toward the receiving lens, thereby increasing the energy of the echo signal received by the receiving lens.

In one embodiment, the optical axes of the laser emitter, the emission lens, the light through hole and the galvanometer are all on the same straight line.

So set up, can guarantee that the laser signal from laser emitter transmission can both be received by the transmitting lens, and the laser signal from transmitting lens outgoing can both pass and receive by the mirror that shakes behind the clear aperture to can improve the utilization ratio of energy, it is farther to find a distance.

In one embodiment, an included angle between a straight line where the laser signal emitted by the laser emitter is located and the reflecting mirror is 45 degrees.

So set up, the speculum can be with from the echo signal turn that the mirror reflects that shakes back to with from the speculum outgoing to the laser signal who shakes the mirror on being the direction of 90 degrees contained angles, avoid echo signal and laser signal mutual interference, guarantee that echo signal can both be reflected to laser receiving device to improve the utilization ratio of energy.

In one embodiment, the galvanometer is rotatable about a center of the galvanometer.

So set up, when the mirror that shakes rotated to different angles, the reflection angle of the laser signal that the mirror that shakes reflected also is different to can be with laser signal outgoing to each direction, enlarge measuring range.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention;

fig. 2 is a schematic structural view of the optical splitter shown in fig. 1 after sliding;

fig. 3 is a schematic structural view of the galvanometer in fig. 1 after rotation according to the present invention;

fig. 4 is a schematic view of a light splitter of the receiving lens provided by the present invention.

Reference numerals: 1. receiving a lens; 2. a beam splitter; 21. a first reflective surface; 22. a second reflective surface; 3. a first laser receiver; 4. a second laser receiver; 5. a laser transmitter; 6. an emission lens; 7. a galvanometer; 8. a mirror; 81. a light incident surface; 82. a reflective surface; 83. and (7) a light through hole.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

It will be understood that when an element is referred to as being "secured to" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. The use of the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like in the description of the present application is for purposes of illustration only and is not intended to represent the only embodiment.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact via an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Unless defined otherwise, all technical and scientific terms used in the specification of the present application have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the description of the present application, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the laser radar system of the related prior art, in order to prevent the phenomenon that the reflection of laser energy causes the energy of the receiver to reach saturation and the short-distance echo signal cannot be responded, and finally the effective distance measurement cannot be realized, a beam splitter is generally adopted to divide a laser beam into two echo signals with different energy sizes so as to realize the short-distance and long-distance separation distance measurement. However, because the ratio of the energy of the two echo signals separated by the same beam splitter is fixed and unchanged, when the laser radar system needs to be used in different occasions, the beam splitting ratio is usually adjusted by replacing beam splitters of different models, the adjustment steps are complex, the types and the number of the beam splitters to be prepared are large, and the measurement efficiency is low.

In order to solve the above problem, as shown in fig. 1 to 4, the utility model provides a laser receiving device and laser radar system, this laser receiving device can conveniently adjust the beam split proportion and realize closely and the long-distance separation range finding under the different occasions.

As shown in fig. 1 to 2, specifically, the laser receiving device includes a receiving lens 1, a beam splitter 2, a first laser receiver 3 and a second laser receiver 4; the receiving lens 1 is used for collecting and converging echo signals, and the spectroscope 2 is arranged on an emergent light path of the receiving lens 1 in a sliding manner and divides the echo signals into first echo signals and second echo signals; the first laser receiver 3 and the second laser receiver 4 are respectively disposed on two sides of the beam splitter 2 and are respectively configured to receive the first echo signal and the second echo signal.

As mentioned above, because the ratio of the energy of the two echo signals separated by the beam splitter in the related prior art is fixed and unchanged, when the laser radar system needs to be used in different occasions, the beam splitter of different models needs to be replaced to adjust the beam splitting ratio, the adjustment step is complex, the number and the number of the beam splitters to be prepared are large, and the measurement efficiency is low. In the laser receiving apparatus provided by the embodiment of the present invention, the receiving lens 1 receives the echo signal and then converges the echo signal and emits the echo signal toward the spectroscope 2, and the spectroscope 2 can divide the echo signal emitted from the receiving lens 1 into the first echo signal and the second echo signal to realize the short-distance and long-distance separation distance measurement; when needs are applied to different occasions with this laser receiving device, the user can slide the position of regulation spectroscope 2 according to the range finding needs to adjust the energy ratio of first echo signal and second echo signal, make this laser receiving device just can be applicable to different occasions through a spectroscope 2, the regulation mode is simple, does not need to change the spectroscope 2 of different models frequently, thereby can improve measurement of efficiency.

As shown in fig. 1, the beam splitter 2 includes a first reflection surface 21 and a second reflection surface 22 for reflecting the first echo signal and the second echo signal, respectively, and the first reflection surface 21 and the second reflection surface 22 are disposed obliquely with respect to the receiving lens 1. The first reflecting surface 21 can reflect the first echo signal to the first laser receiver 3, and the second reflecting surface 22 can reflect the second echo signal to the second laser receiver 4, so that the first echo signal and the second echo signal are not interfered with each other after being separated, and the accuracy of the short-distance and long-distance separation ranging result can be improved.

As shown in fig. 1, in one embodiment, the included angles between the first reflective surface 21 and the second reflective surface 22 and the optical axis of the receiving lens 1 are equal. In this way, the intensity of the echo signal energy received by the first laser light receiver 3 and the second laser light receiver 4 does not change depending on the reflection angle of the first reflection surface 21 and the second reflection surface 22. When in use, the first laser receiver 3 can be used for measuring long-distance signals, and the second laser receiver 4 can be used for measuring short-distance signals; it is also possible to measure the long range signal with the second laser receiver 4 and the short range signal with the first laser receiver 3. Preferably, the cross section of the spectroscope 2 is an isosceles triangle. Of course, the spectroscope 2 may also be a scalene triangle or two reflectors forming an angle with each other, as long as the echo signal can be separated into a first echo signal and a second echo signal that exit towards both sides, which is not limited herein.

As shown in fig. 4, the aperture of the emitting end of the receiving lens 1 is D, and the area of the emitting end of the receiving lens 1 for emitting the first echo signal is S1, which satisfies the requirement

Since the diameter of the emergent end of the receiving lens 1 is D, the area of the emergent end of the receiving lens 1 is D

The spectroscope 2 can divide the emergent end of the receiving lens 1 into an S1 part and an S2 part, wherein the S1 part is used for emitting a first echo signal, the S2 part is used for emitting a second echo signal, and the spectroscope 2 needs to ensure that the S1 and the D meet the requirements during sliding adjustment

The measured distance is accurate, and the phenomenon that the ratio of S1 or S2 to the whole area of the exit end of the receiving lens 1 is too small due to the fact that the spectroscope 2 slides to the edge of the receiving lens 1, and therefore the signal energy received by the first laser receiver 3 or the second laser receiver 4 is too weak and the result cannot be accurately measured is avoided.

The laser receiving device further comprises a controller, when the receiving lens 1 receives the echo signal, the controller primarily confirms the position of the spectroscope 2, the spectroscope 2 separates the echo signal into a first echo signal and a second echo signal, the first reflecting surface 21 and the second reflecting surface 22 respectively reflect the first echo signal and the second echo signal to the first laser receiver 3 or the second laser receiver 4, after the first laser receiver 3 receives the energy, the controller performs logical operation and judges whether the energy meets the requirement, if so, the spectroscope 2 adjusts the position and confirms, and the logical operation is finished; if the energy is judged to be too large or too small, the position of the spectroscope 2 is adjusted again and confirmed again until the control confirms that the energy meets the requirement.

As shown in fig. 1 to fig. 3, the present invention further provides a laser radar system, which includes a laser transmitter 5, a transmitting lens 6, a vibrating mirror 7, a reflecting mirror 8 and the above laser receiving device; the laser device comprises a laser emitter 5, an emitting lens 6, a vibrating mirror 7, a reflecting mirror 8, a transmitting lens 6, a collimating lens 6, a reflecting mirror 83 and a reflecting mirror 6, wherein the laser emitter 5 is used for emitting laser signals, the emitting lens 6 is arranged on an emergent light path of the laser emitter 5, the emitting lens 6 is used for shaping and collimating the laser signals, the vibrating mirror 7 is arranged on the emergent light path of the emitting lens 6, the vibrating mirror 7 is used for reflecting the laser signals to a target object and receiving echo signals reflected from the target object, the reflecting mirror 8 is arranged between the emitting lens 6 and the vibrating mirror 7, and the reflecting mirror 8 is provided with a light through hole 83 for the laser signals to pass through; the mirror 8 has a reflection surface 82 facing the galvanometer 7, and the echo signal is reflected from the galvanometer 7 to the reflection surface 82 and reflected to the reception lens 1 via the reflection surface 82.

When the laser receiving device is used, the laser transmitter 5 transmits a fixed pulse laser signal and emits the laser signal at a certain emission angle, the emission lens 6 shapes and collimates the laser signal transmitted by the laser transmitter 5 to form a laser beam with concentrated energy and a small divergence angle, the laser signal transmitted by the emission lens 6 passes through the light through hole 83 of the reflector 8 and then is irradiated on the vibrating mirror 7, the vibrating mirror 7 reflects the received laser signal to a target object, the target object receives the laser signal and then reflects an echo signal, the echo signal is irradiated on the vibrating mirror 7, the vibrating mirror 7 reflects the received echo signal to the reflecting surface 82 of the reflector 8, and the reflecting surface 82 reflects the received echo signal to the laser receiving device for processing. The light through hole 83 can reduce the interference and consumption of the reflector 8 on laser signals, so that the energy utilization rate is higher, the distance measurement is farther, a common light path system can be formed due to the overlapping of light paths among the reflector 8, the vibrating mirror 7 and a target object, the number of partial elements can be reduced, the whole size of the laser radar system is smaller, and the cost is lower. The inner diameter of the light-passing hole 83 is adapted to the diameter of the laser signal emitted by the emission lens 6, so that the phenomenon that the echo signal reflected from the galvanometer 7 passes through the light-passing hole 83 in a large amount to reduce the energy of the echo signal received by the receiving lens 1 due to the overlarge opening is avoided.

Further, the reflecting surface 82 is coated with a high reflection film. The high reflection film can increase the reflection light flux of the echo signal reflected from the galvanometer 7, so that most or almost all of the echo signal incident on the high reflection film is reflected toward the receiving lens 1, thereby increasing the energy of the echo signal received by the receiving lens 1. Of course, the reflecting mirror 8 may be coated with a light-transmitting film on the light incident surface 81, so that the transmittance of the laser signal passing through the reflecting mirror 8 can be increased, and the energy of the laser signal received by the oscillating mirror 7 can be increased.

As shown in fig. 1, the optical axes of the laser emitter 5, the emission lens 6, the light-passing hole 83, and the galvanometer 7 are all on the same straight line. Therefore, the laser signals emitted from the laser emitter 5 can be received by the emitting lens 6, and the laser signals emitted from the emitting lens 6 can pass through the light through hole 83 and then be received by the vibrating mirror 7, so that the utilization rate of energy can be improved, and the distance measurement is farther.

As shown in fig. 1, an included angle between a straight line of the laser signal emitted by the laser emitter 5 and the reflector 8 is 45 degrees. The reflector 8 can turn the echo signal reflected back from the vibrating mirror 7 to the direction which forms a 90-degree included angle with the laser signal emitted from the reflector 8 to the vibrating mirror 7, so that the echo signal is prevented from being reflected to the vibrating mirror 7 again and interfering with the laser signal emitted from the reflector 8, the echo signal can be ensured to be reflected to the laser receiving device, and the utilization rate of energy is further improved.

As shown in fig. 1 and 3, the galvanometer 7 is rotatable around the center of the galvanometer 7. The rotation direction of the galvanometer 7 may be the direction shown in fig. 3, or may rotate around any other rotating shaft passing through the center of the galvanometer 7, as long as it is ensured that the laser signal emitted from the emitting lens 6 can be incident on the galvanometer 7, and the laser signal reflected by the galvanometer 7 does not return to the reflecting surface of the reflecting mirror 8, which is not limited specifically herein. When the galvanometer 7 rotates to different angles, the reflecting angles of the laser signals reflected by the galvanometer 7 are different, so that the laser signals can be emitted to all directions, and the measuring range is expanded. Preferably, the galvanometer 7 is a MEMS galvanometer.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims (10)

1. A laser light receiving device, comprising:

the receiving lens (1) is used for collecting and converging echo signals;

the spectroscope (2) is arranged on an emergent light path of the receiving lens (1) in a sliding mode and divides the echo signal into a first echo signal and a second echo signal;

the first laser receiver (3) and the second laser receiver (4) are respectively arranged on two sides of the spectroscope (2) and are respectively used for receiving the first echo signal and the second echo signal.

2. The laser receiving device according to claim 1, wherein the beam splitter (2) includes a first reflecting surface (21) and a second reflecting surface (22) for reflecting the first echo signal and the second echo signal, respectively, and the first reflecting surface (21) and the second reflecting surface (22) are disposed obliquely with respect to the receiving lens (1).

3. The laser receiver according to claim 2, wherein the first reflecting surface (21) and the second reflecting surface (22) have the same size of included angle with the optical axis of the receiving lens (1).

4. According to the rightThe laser receiver according to any one of claims 1 to 3, wherein the diameter of the exit end of the receiving lens (1) is D, and the area of the exit end of the receiving lens (1) for exiting the first echo signal portion is S1, so as to satisfy the requirement

5. A lidar system comprising the laser receiving apparatus according to any one of claims 1 to 4;

a laser transmitter (5) for transmitting a laser signal;

the emission lens (6) is arranged on an emergent light path of the laser emitter (5), and the emission lens (6) is used for collimating the laser signal;

the galvanometer (7) is arranged on an emergent light path of the transmitting lens (6), and the galvanometer (7) is used for reflecting the laser signal to a target object and receiving the echo signal reflected from the target object; and (c) a second step of,

and the reflector (8) is arranged between the transmitting lens (6) and the vibrating mirror (7), and the reflector (8) is provided with a light through hole (83) for the laser signal to pass through.

6. Lidar system according to claim 5, wherein the mirror (8) has a reflective surface (82) facing the galvanometer (7), the echo signal being reflected from the galvanometer (7) to the reflective surface (82) and via the reflective surface (82) to the receiving lens (1).

7. Lidar system according to claim 6, wherein the reflective surface (82) is coated with a highly reflective film.

8. The lidar system according to claim 5, wherein the optical axes of the laser transmitter (5), the transmitting lens (6), the light passing hole (83) and the galvanometer (7) are all on the same straight line.

9. Lidar system according to claim 5, wherein an angle between a straight line of the laser signal emitted by the laser emitter (5) and the mirror (8) is 45 degrees.

10. Lidar system according to any of claims 5 to 9, wherein said galvanometer (7) is rotatable around the center of said galvanometer (7).

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